Derivation of General Acceleration and Hessian Matrix of Kinematic Limbs in Parallel Manipulator by Extended Skew-Symmetric Matrixes
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DOI: 10.1007/s11831-020-09490-6
Abstract: A general acceleration model and a Hessian matrix of the kinematic limbs in the parallel manipulators are established using new skew-symmetric matrixes. First, several extended formulas of the skew-symmetric matrixes are derived and proved. Second,… read more here.
Keywords: symmetric matrixes; limbs parallel; skew symmetric; kinematic limbs ... See more keywords
Forward Acceleration of Kinematic Limbs for Redundant Serial–Parallel Manipulators
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DOI: 10.1115/1.4044842
Abstract: A forward acceleration of the kinematic limbs for the redundant serial–parallel manipulators is studied. The relationships between the input velocity/acceleration and the output general velocity/acceleration of the kinematic limbs are discovered. The forward kinematic Jacobian… read more here.
Keywords: limbs redundant; serial parallel; acceleration; forward acceleration ... See more keywords